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Force control of a flexible arm

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3 Author(s)
Matsuno, F. ; Dept. of Comput. & Syst. Eng., Kobe Univ., Japan ; Wakashiro, K. ; Ikeda, M.

In this paper, robust force control of a flexible arm is considered. We derive the dynamic equations of the joint angle and vibration of the flexible arm and its contact force. On the basis of a finite-dimensional model of distributed-parameter systems, an LQ controller, an optimal controller with low-pass property and a robust N controller are constructed. A set of simulations has been carried out and responses for three controllers are compared

Published in:

Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on

Date of Conference:

8-13 May 1994